Multi-functional robot with remote and video system

ABSTRACT

The present invention is a robot which incorporates abode, two arms, two legs, several sensors, an audio system, a light assembly, and a video device. The sensors located throughout the body of the robot combined with an edge detection sensor allows the robot to interact with objects in the room, and prevents the robot from traveling off an edge or bumping into obstacles. The audio system allows the robot to detect and transmit sounds. The video device allows a user to remotely view the area in front of the robot. Additionally, the robot may operate in a plurality of modes which allow the robot to operate autonomously. The robot may operate autonomously in an automatic mode, a security mode, a greet mode, and a monitor mode. Further, the robot can be manipulated remotely.

FIELD OF THE INVENTION

[0001] The present invention relates generally to a robot that can bemanipulated remotely by a user or operate autonomously. Moreparticularly, the robot can detect and avoid bumping into obstacles andtraveling off an edge, thus allowing the robot to interact with objectsin a room. Further, the robot can be manipulated remotely without theuser requiring a line-of-sight with the robot. All of these featuresallow the robot to provide various security measures.

BACKGROUND

[0002] Remote controlled robots allow users to manipulate the robotusing a remote control device, allowing the user to move the robot andperform simple tasks. Typically, to be able to see where the user ismoving the robot, the user must have a line of sight with the robot.Otherwise, the user cannot see where the robot is and risks damage tothe robot by driving it off an edge or colliding with an object.

[0003] Therefore, there is a need for a remote control device to have avideo screen allowing the user to see the area in front of the robot.With a video screen on the remote control device, a user can move therobot in areas that are not in the user's line of sight. Thus, the robotcan be moved into more areas.

[0004] Additionally, a robot traditionally cannot interact with peopleon its own. The user must typically manipulate every action of therobot. Therefore, there is a need for a robot to operate autonomouslyand interact with people it encounters. To accomplish this, a robot musthave the ability to detect moving and stationary objects in theimmediate vicinity. To safely operate autonomously, a robot must alsohave an edge detection system so as to not travel over an edge anddamage itself.

[0005] Some robots have video cameras, enabling a user to view the areain front of the robot. However, typically the user may only view theimage from the video camera through a computer. Therefore, there is aneed for a hand-held remote control device with a video screen that auser can easily transport.

SUMMARY OF THE INVENTION

[0006] The present invention is a multi-function robot. The robot canoperate autonomously or be manipulated remotely by a remote controldevice. To interact with people in a room, the robot is designed withtwo arms, two legs, eyes, a mouth, and a head. The arms can rotate inseveral positions and further contains a hand-grip device. The handgripdevice allows the robot to hold and release objects. The legs of therobot are designed to move the robot throughout a room. The mouth andeyes of the robot allow it to communicate with people in the room andprovide emotions.

[0007] To operate autonomously the robot has multiple sensors to avoidbumping into obstacles within the room and traveling off an edge. Thesensors include infrared devices located on the body of the robot and anedge detection element located in the legs of the robot. The robot alsohas several modes by which hit can operate autonomously. For example, anautomatic mode allows the robot to move autonomously throughout theroom, detect people within the room, and interact with the people. Therobot can also provide security to the household when it is the securitymode. In security mode the robot can detect noise and send an alarmsignal to the remote control device to alert the user that an object hasbeen detected. The robot can also greet people when in the greet mode.Additionally, the robot maybe placed in the monitor mode, which allows auser to remotely view objects in front of the object and hear soundswithin the vicinity of the robot. Finally, the robot can be placed inthe remote control mode which allows a user to remotely manipulate therobot.

[0008] To enhance the operation of the modes described above, the robotcan display moods through lighting of its eyes and mouth. Depending onthe mode the robot is operating from and the type of speech the robot ismaking, the eyes will change colors to express a different mood.Further, while the robot is speaking the mouth will display differentpatterns.

[0009] To operate manually, a remote control device is used tomanipulate the robot remotely. The remote control device contains allthe functions a user will need to manipulate the robot. For example, theremote control device contains a joystick, video display, a microphone,a transmitter/receiver, and several other controls to manipulate therobot. The joystick allows the user to translate motion of the robot inseveral directions. The video display allows the user to remotely viewthe area in front of the robot through the video camera on the robot.The user can also transmit his voice to the robot such that his voice isprojected from the robot.

BRIEF DESCRIPTION OF THE DRAWINGS

[0010]FIG. 1 is a front perspective view of an embodiment of the robotof the invention with the left arm in a raised position and both handsin an open position;

[0011]FIG. 2 is a rear perspective view of the robot with the left armin a raised position and both hands in an open position;

[0012]FIG. 3 is a left side view of the robot with the left arm in araised position and the hand in an open position;

[0013]FIG. 4 is a front view of the robot with the left arm in a raisedposition and both hands in an open position;

[0014]FIG. 5 is a rear view of the robot with the left arm in a raisedposition and both hands in an open position;

[0015]FIG. 6 is a top view of the robot with the left arm in a raisedposition and both hands in an open position;

[0016]FIG. 7 is a front perspective of the robot thereof with the leftarm in a 9020 raised position carrying a tray, and the right arm in a180° raised position carrying a tray;

[0017]FIG. 8 is a cutaway view of an arm of the robot illustrating themechanism to open and close the hands of the robot;

[0018]FIG. 9 is a cutaway view of a leg of the robot illustrating themechanism to rotate the arms;

[0019]FIG. 10 is a cutaway view of a leg of the robot illustrating thedrive mechanism;

[0020]FIG. 11 is a cutaway view of the body of the robot illustratingthe mechanism to rotate the rotatable platform;

[0021]FIG. 12 is a cutaway view of the mechanism to drive the scanningpassive infrared sensor;

[0022]FIG. 13 is a perspective view of an embodiment of the remotecontrol device of the invention;

[0023]FIG. 14 is a top rear perspective view of the remote controldevice;

[0024]FIG. 15 is a top view of the remote control device;

[0025]FIG. 16 is a block diagram for the controls of the robot; and

[0026]FIG. 17 is a block diagram illustrating the controls of the remotecontrol device.

DETAILED DESCRIPTION

[0027] Referring now to FIGS. 1-7, the robot 100 contains a body 102,arms 104, legs 106, video device 122, mouth 126, eyes 128, light 118,microphones 117, active infrared emitter 115, a passive infrared scanner114, and multiple sensors to assist the robot 100 from running intoobstacles or traveling off an edge.

[0028] The arms 104 are connected with the body 102. The arms 104 can bepositioned in multiple locations and further can be positioned inpre-set “serving” locations. As shown in FIG. 7, the two pre-set servingpositions are at the 90° and 180° positions. Both arms 104 can beadjusted to either position independently. Further, to ensure that thearms 104 will not rotate when in either serving position, the arms 104can be located so that the remote control 500 cannot activate the arms104. Referring now to FIG. 9, the mechanism for rotating the arms 104can be seen. The motor 180, via a flexible belt 181, drives gear 182,which drives gear 184, which drives gear 186, which drives gear 188,which drives gear 190. Gear 190 is attached to the arm 104. To lower thecost and complexity of the mechanism, gears 184, 186, and 188 are thesame part. An optical emitter/receiver monitors the movement andlocation of gear 190 via a toothed wheel (not shown) attached coaxiallyto gear 190. Such a device is commonly referred to as an opticalposition encoding device throughout the industry. Therefore, it is knownto one of ordinary skill in the art and does not need to be furtherdescribed. The monitoring through the above described optical positionencoding device allows the robot 100 to know the position of the arms104. When the robot 100 is turned on, the arms 104 are calibrated bymoving them through a range of motion that the robot 100 can track theirposition from the starting position.

[0029] To grip and hold an object, the arms 104 also contain a hand gripdevice. The hand grip device contains a first finger 110 and a secondfinger 108. As shown in FIG. 1, the first finger 110 is stationary andhas cavities 112 for holding a serving device (See FIG. 7). The secondfinger 108 opens and closes to grip and release an object. However, oneof ordinary skill in the art will appreciate that the second finger 108maybe stationary while the first finger 110 opens and closes. A springclosure mechanism biases the second finger 108 in a closed position. Asthe mechanism is commonly known to one of ordinary skill in the art, themechanism does not need to be further described. The spring closuremechanism will not apply more than five pounds of pressure to an objectplaced between the first finger 110 and the second finger 108. Limitingthe pressure to five pounds will prevent damage to an object heldbetween the first finger 110 and the second finger 108.

[0030] A separate motor operates to activate the second finger 108.Referring now to FIG.8, a leadscrew 152 on the shaft of the motor 150turns gear 154, which turns gear 156, which turns gear 158. Each stagereduces the RPM and increases torque. The gear 158 has a pin on itsunderside which pulls a steel linkage which is attached by springs tothe lever arms 109 of the second finger 108. As the steel linkage iscommonly known to one of ordinary skill in the art, the steel linkagedoes not need to be further described. This double-spring gripper canthus be forced open or shut against a spring force without damage to themechanism.

[0031] The legs 106 are also connected with body 102. The legs 106provide lateral support to keep the body 102 elevated and substantiallyperpendicular to the ground. The legs 106 also provide the ability forthe robot 100 to move about. Each leg 106 contains a drive mechanism 300to move the robot 100. The drive mechanism 300 located in each leg 106can move the robot forward, reverse, left and right and both forward andreverse directions, and can spin the robot in place by controlling therotation of the center wheel 138. Counters on each drive mechanism 300control the straight forward motion with the two drive mechanisms 300 insynchronization.

[0032] The drive mechanism 300 is illustrated in FIG. 10. The motor 306has an attached pulley 307 to drive the pulley 302 via the flexible belt304. The pulley 302 has a small gear which also drives the center wheel138. The small gear is a common toothed wheel which is commonly known toone of ordinary skill in the art. The flexible belt 304 providestolerance for heavy loads which would otherwise damage a motor or geartrain. Also, the flexible belt 304 reduces noise over using hard gearsfor first-stage reduction. A counter (not shown) mounted on the gear 310counts the rotation of the center wheel 138 via an attached toothedwheel for indexing and monitoring speed. As the counter is a devicewhich is commonly known to one of ordinary skill in the art, it will notbe described further. Other optical position encoding devices can beused with wheel 138 as is known in the art. As the center wheel 138 isthe only wheel propelled by the drive mechanism 300, the movement of therobot 100 is dependant solely on the center wheel 138. The front endwheel 120 and rear end wheel 121 rotate freely upon contact with asurface and provide lateral support to keep the body 102 substantiallyperpendicular with the ground.

[0033] The robot 100 has several sensors to prevent the robot 100 fromrunning into obstacles and traveling off an edge. The sensors includesambient light sensors 123, active infrared emitters 115, passiveinfrared sensor 114, motor sensors (not shown), a tilt sensor and anedge sensor (not shown but described later). As the motor sensor and thetilt sensor are commonly known to one of ordinary skill in the art, theywill not be described herein.

[0034] The ambient light sensor 123 determines if the ambient area infront of the robot 100 is below a minimum illumination. If the intensityof the ambient light is not enough to view objects through the videodisplay 504 of the remote control 500 without additional light, aninfrared mode of the video device 122 will be activated, allowing a userto see objects at night.

[0035] To help the robot 100 avoid bumping into obstacles and travelingoff an edge, the robot 100 contains active infrared emitters 115, apassive infrared (PIR) sensor 114 and four edge sensors 107, describedhereafter. Avoiding obstacles is an important function of the robot 100so that the robot 100 can operate autonomously. Each leg 106 containsthree active infrared sensors 115. The PIR sensor 114 is located on thefront of the body 102. The edge sensors 107 are located in the legs 106,whereby one sensor is located in each toe and heel of the leg 106.

[0036] The robot 100 contains six active infrared emitters 115, withthree in each leg 106. Signals emitted by the active infrared emitters115 are detected by signal receiving device located within housing 116.The three active infrared emitters 115 located in each leg 106 emits asignal at a different angle. The pattern is identical in both the legs106. For example, if the three active infrared emitters 115 are alignedin a vertical pattern, the top emitter would emit a signal in asubstantially 90° angle from the surface of leg 106. Additionally, themiddle emitter would emit a signal approximately 30° offset towards theground from the top emitter. The bottom emitter would emit a signalapproximately 30° offset towards the ground from the middle emitter.Since each emitter 115 emits a signal at a different angle, the signalwill reflect off an object at different places in a room.

[0037] This pattern of active infrared emitters 115 allows for eachemitter 115 to detect an object at a different distance or time. Forexample, since the top emitter emits a signal substantially parallel tothe ground, the top emitter will indicate that an object is in front ofthe robot 100, but at a distance far away. As the middle emitter emits asignal toward the floor, the middle emitter will indicate that anobstacle is in front of the robot 100 and closer than if the top emitterwould have detected the object. Similarly, as the bottom emittersubstantially emits a signal toward the ground, the top or middleemitter may not detect an object very close. Thus, the bottom emitter,by not receiving a signal, will indicate that an object is directly infront of the robot 100 and that the obstacle is very near, such as anedge.

[0038] Each active infrared emitter 115 emits a signal. However, onlyone emitter 115 emits a signal at a time. The six emitters 115 timeshare the signal receiving device. By only allowing one active infraredemitter 115 to send a signal at a time, the signal receiving deviceknows which emitter 115 sent the signal. Thus, the robot 100 candetermine if the object is far away, near or immediately in front of it.Further, as the emitters 115 continuously emit a signal, the robot 100can monitor and update the position of objects and edges. With threeemitters 115 located on each leg 106, the robot 100 can distinguish ifthe obstacle or edge is on the left or right side.

[0039] The PIR sensor 114 is a separate system from the active infraredemitters 115. The PIR sensor 114 does not emit a signal. Instead, thePIR sensor 114 detects heat. Normally, a passive infrared sensor is notable to detect an object emitting heat if the object is stationarybecause a typical passive infrared sensor detects a change intemperature. However, the robot 100 can detect a stationary object thatemits heat because the PIR sensor 114 is mounted in housing 116, whichcontinuously rotates through a range.

[0040] Referring now to FIG.12, the motor 250 has an attached pulley 252to drive the pulley 256 via the flexible belt 254. The pulley 256 drivesthe pulley 258, which drives the pulley 260, which drives the pulley262, which drives the housing 116. Similar to the drive mechanism 300,this drive belt provides tolerance for heavy loads and reduces noiseover using hard gears. An optical emitter/receiver (not shown andsimilar to these described above) monitors the movement and location ofthe gear that drives the housing 116. The PIR sensor 114 will detectheat signals as it moves through the range dictated by the housing 116.For example, as the housing 116 rotates through its range, thetemperature differential between the person and the surroundingenvironment will be detected by the PIR sensor 114. The robot 100 willknow the location of the person in relation to the robot 100 by theangle the housing 116 is at the moment the PIR sensor 114 detects theheat differential.

[0041] The edge detection system relies on feedback from the activeinfrared emitters 115, the signal receiving device, and an edgedetection element 107 located in leg 106. The active infrared emitters115 sequentially send out signals as previously described. When thesignal receiving device detects an edge from the signal emitted by anactive infrared emitter 115, the robot 100 will then slow down, thusallowing the edge detection element 107 in leg 106 to confirm that thereis an edge. The edge detection element 107 is a leaf switch 111connected with the front wheel 120 and the rear wheel 121. As the robot100 moves slowly forward, if the front wheel 120 or the rear wheel 121travels a predetermined distance downward, the leaf switch 111 willclose and complete a circuit to send a signal to the robot 100 thatthere is an edge. Thus, the robot 100 will not continue to travel inthat direction. Instead, the robot 100 will change direction andcontinue to operate autonomously. The edge detection element 107 alsoserves as a backup to the active infrared sensors 115 ability to detectan edge. For example, the signals sent by the active infrared emitters115 will not reflect from a black carpet. Therefore, the signalreceiving device will not detect an edge. In this case, the edgedetection element 107 will be the first and only method to detect anedge.

[0042] The motor sensors located within the body 102 monitor currentsurges to the motors to tilt the body 102, rotate the arms 104, rotatethe rotating platform 124, and drive the center wheel 138. If a surge incurrent exceeds a minimum threshold, the robot 100 will notify the userby speaking from its vocabulary (e.g., “ouch,” “stop it,” “that hurts,”“that's heavy,” etc.).

[0043] Robot 100 has several modes by which the robot 100 can operate.Several modes allow the robot 100 to operate autonomously, while othermodes require a user to remotely manipulate the robot 100. The modesettings include a remote control mode, a monitor mode, an automaticmode, a security mode, a greet mode and a demonstration mode.

[0044] When the automatic mode is selected, the robot 100 begins to moveautonomously throughout the room. As explained above, the activeinfrared emitters 115 assist the robot 100 to avoid bumping intoobstacles and traveling off an edge. While the robot 100 is movingthroughout the room it will occasionally speak from the auto vocabulary,depending on sensor input. Simultaneously, the PIR sensor 114 scans thearea in front of the robot 100 to detect a heat source. When the robot100 detects a heat source, the rotatable platform 124 will turn towardthe object and speak from its “roam” vocabulary (e.g., “Nice to see youagain.”, “How are you.”, etc.)

[0045] The motor mechanism which drives the rotatable platform 124 isshown in FIG. 11. A motor has an attached pulley 200 to drive the pulley202 via flexible belt 204. As the motor is commonly known to one ofordinary skill in the art, the motor will not be described further. Thepulley 202 drives the pulley 206, which drives the pulley 208, whichdrives the pulley 209, which drives the pulley 210, which drives thepulley 212. The pulley 212 drives the rotatable platform 124. Thepulleys 208, 209 and 210 are the same to lower the cost and complexityof the mechanism. The motor mechanism allows the rotatable platform 124to rotate either left or right, up to 135°.

[0046] The robot 100 can also detect the location of a noise. Threemicrophones 117 are placed around the robot 100 at approximately 120°angles apart from each other. The microphones 117 can detect the phasedifference in a sound detected so that the robot 100 can determine whatdirection the sound originated from. When a noise is detected, the robot100 will turn its rotatable platform 124 towards the object as if it isspeaking directly to the object.

[0047] The robot 100 can also provide security to a household. When thesecurity mode is selected, the robot 100 stands still with minimum powerconsumption. When the microphones 117 on the robot 100 detect noiseabove a minimum threshold, the rotatable platform 124 turns towards thenoise source and the PIR sensor 114 begins to scan. If a heat source isdetected, the robot 100 turns on the light 118, the rotatable platform124 turns towards the heat source, and the robot 100 makes anannouncement from the security vocabulary. Further, the robot sends analarm signal to the remote control device 500 to alert a user that anobject has been detected.

[0048] Robot 100 can also greet people. When the greet mode is selected,the robot 100 scans with the PIR sensor 114 to search for a detectableobject (e.g., a person). If a heat source is detected, the robot 100turns the rotatable platform 124 towards the source and makes anannouncement from the greeting vocabulary.

[0049] Robot 100 can also demonstrate many of its functions through apre-programmed routine. When the demonstration mode is selected, therobot 100 performs several motions to display various functions that therobot can operate. For example, the robot will rotate its arms 104through the full range of motion, tilt its body and speak.

[0050] The robot 100 can also be manipulated remotely by a user. Whenthe remote control mode is selected, the robot 100 is manipulatedremotely by a user via a remote control device 500 (See FIG. 13) or viathe Internet.

[0051] Finally, when the monitor mode is selected, the drive mechanism300 is disabled so that the robot cannot move. However, the robot 100can transmit audio and video signals to the remote control device 500 sothat a user can remotely view objects in front of the robot and hearsounds within the vicinity of the robot 100. A user is not limited tothe range of remote control device 500 if the user is remotelymanipulating the robot 100 via the Internet.

[0052] The robot 100 can also display moods to enhance or compliment thespecific mode the robot 100 is operating in. The different moods areexpressed by the eyes 128 and the mouth 126. The eyes 128 allow therobot 100 to express moods through different combinations of lighting.The eyes 128 contain several lights where each light emits at least onecolor. The lights maybe arranged in several combinations. Thecombination of lights may be activated to display at least one color.Specifically, the lights within eyes 128 consist of one blue light, twoamber lights and two red lights. The preferred embodiment for the eyes128 is such that the blue light is positioned in a forward positionwhile the two red and two amber lights are positioned in a rearwardposition. A reflective surface is placed in the eyes 128 facing theamber and red lights so that the amber and red lights emit light in aforward direction to blend with the blue light. The color emitted fromthe eyes 128 can be any combination of the blue, amber, and red lights.The combination of lights activated depends on whether the robot 100 isin the night light mode, the monitor mode, the security mode, the remotecontrol mode, the automatic mode or the greet mode.

[0053] When the robot 100 is in the night light mode, two amber and twored lights are activated and emitted from the eyes 128. When the robot100 is in the monitor mode, one amber light is activated and emittedfrom the eyes 128 at all times. When the robot 100 is in the securitymode, the lights activated depend on whether the robot 100 is talking ornot talking. When the robot 100 is not talking, one blue light isactivated and emitted from the eyes 128. When the robot 100 is talking,one blue light and two red lights are activated and emitted from theeyes 128.

[0054] When the robot is the remote mode, automatic mode or greet mode,the lights activated depend on whether the robot 100 is not talking,talking, tired, or tired and talking. When the robot 100 is not talkingin either of these modes, one blue light and one amber light areactivated and emitted from the eyes 128. When the robot 100 is talking,one blue light and two amber lights are activated and emitted from theeyes 128. When the robot 100 is tired, one blue light and one red lightis activated and emitted from the eyes 128. Lastly, when the robot 100is tired and talking, one blue light and two red lights are activatedand emitted from the eyes 128.

[0055] To compliment all speech, the robot 100 also has a mouth 126 toexpress emotions. The mouth 126 consists of several rows of red LED'sthat can be individually activated. Depending on the sensor input andvocabulary spoken, the robot 100 can demonstrate emotions such as asmile, a frown, puzzled, surprise, concentration and thinking. When therobot 100 is speaking, the LED's continuously change in pattern.

[0056] Another feature of robot 100 is a low battery indicator 139 (SeeFIG. 2). The low battery indicator 139 contains five rectangular LED'son the back panel of the robot 100. When the robot 100 is fully charged,all five LED's are lighted. When the power level is down to one lightedLED, the robot 100 has a vocabulary to indicate that the power is lowand the robot 100 needs recharging. As the robot 100 detects that thebattery becomes discharged, the robot 100 will reduce its functions topreserve power in the following order: first, the video functions; then,the audio functions; then, the locomotion functions will be eliminated.The remote control device 500 also has a low battery circuit whichincludes an audio power display and power cutoff. The power cutofffunction is very important as lead-acid batteries will last through manymore discharge cycles if they are not fully discharged with each use.

[0057] The control block diagram for the robot 100 is shown in FIG. 16.As shown, there are several microcontroller units (MCU) 400 thatcoordinate all the functions of the robot 100. The MCU 400 consists ofseveral, independent integrated circuits to control different functionsof the robot. As explained above and illustrated by FIG. 16, the activeinfrared emitters 115 and the PIR sensor 114 are independentantlycontrolled.

[0058] Referring now to FIG. 13, the remote control device 500 is usedto manipulate the robot 100 remotely. The remote control device 500 is aseparately powered device from the robot 100. An on/off button 328 maybedepressed to turn the remote control device 500 on and off. The remotecontrol device 500 contains a joystick 502, video display 504, amicrophone 506, a transmitter/receiver 508 and several controls by whicha user can manipulate the robot (which will be disclosed later in thisapplication). The joystick 502 is at a height suitable for use with thesingle thumb of a user. The joystick 502 has eight compass points totranslate motion of the robot 100. The eight compass points include leftforward, straight forward, right forward, spin left, spin right, leftbackward, straight backward, and right backward. When any forwardposition of the joystick 502 is engaged for more than three seconds therobot 100 will increase speed in the direction engaged, limited by amaximum speed.

[0059] The video display 504 allows the user to remotely view the areain front of the robot 100. The robot 100 has a video device 122 which islocated on the rotatable platform 124. The image transmitted by thevideo device 122 is displayed in the video display 504. By turning therotating platform 124 or moving the robot 100 in a different direction,a user may see a different area of the room. The contrast knob 536 helpsthe user adjust the contrast of the video display 504 to optimize theimage displayed. To conserve battery power, the video display 504 maybeturned off by depressing the display power button 526. Even though thevideo display 504 is off, the robot 100 can still be manipulated by theremote control 500.

[0060] The microphone 506 allows a user to transmit his voice to therobot 100 so that the user's voice is projected from the robot 100. Theremote control 500 has three voice input buttons 510, 512 and 514. Bydepressing and holding down any of the voice input buttons, a user mayspeak into the microphone 506 and the voice will be transmitted to therobot 100. The voice input button 510 allows the user's voice to betransmitted to the robot 100. The voice input buttons 512 and 514activate and audio circuit which distorts the user's voice before it istransmitted to the robot 100. Thus, the user's voice projected from therobot 100 is disguised. The voice input buttons 512 and 514 distorts theuser's voice in a different manner. In addition to transmitting yourvoice to the robot 100, the remote control 500 can receive soundsdetected by the robot 100. The microphones 117 on the robot 100 detectsurrounding noise and transmit it back to the remote control 500 so thata user may hear them. The volume control knob 534 allows the user toturn the volume of the noise up or down.

[0061] The transmitter/receiver 508 has two antennas. First, a 2.4 GHzantenna 552 sends audio and video signals from the robot 100 to theremote control device 500. The second antenna is a 900 MHz antenna 554that sends control signals from the remote control device 500 to therobot 100. 900 MHz and 2.4 GHz are common frequencies by which manyhousehold devices operate on. To insure that the remote control device500 will not interfere with other devices in the house (e.g., a cordlessphone) each antenna has additional channels which the user may select.Specifically, the 2.4 GHz antenna 552 has two channels and the 900 MHzantenna 554 has three channels a user may select to avoid interferingwith other similar devices in the house (each cordless phone).

[0062] The robot 100 can perform many functions. Several of thefunctions include tilting the body 102, rotating the arms 104, gripingan object, rotating the rotatable platform 124, and moving the robot100. The body 102 can tilt 180° forward 30° rearward. Tilting the body102 forward is accomplished by pressing control button 550. Tilting thebody 102 rearward is accomplished by pressing control button 538. Bypressing and holding either button, the body 102 will continue torotate, stopping when the button is released or the body 102 reaches itsmaximum tilt angle.

[0063] The arms 104 can rotate through many positions, including two“serve” positions which are located at the 90° and the 180° positionsfrom rest (See FIG. 7). By depressing briefly the up direction button540 or the down direction button 548, the arms 104 will increment to thenext preset position in the direction indicated. Longer buttondepressions will control motion of the arms 104 manually, stopping at aposition when the button is released. Both the up direction button 540and the down direction button 548 are divided into a left and righthalf, where by the right half controls the right arm 104 and the lefthalf controls the left arm 104. Thus, both arms 104 can be controlledindependently of the other.

[0064] To grip an object, the second finger element 108 can move to awidth opening of approximately 75 millimeters away from the first fingerelement 110. The second finger element 108 can be opened and closed viathe hand control button 544 on the remote control 500. Similar to thedirection buttons, by quickly depressing the hand control button 544,the second finger element 108 will move to the next preset position. Asthe motor 150 that controls the movement of the second finger element108 only rotates in one direction, the second finger element 108 simplycycles through an open and close position. By holding down the handcontrol button 544 is also divided into a left and right portion. Theleft half of the hand control button 544 controls the left hand and theright half of the hand control button 544 controls the right hand grip.Thus, the hand grips can be controlled independently. Thus, holding downthe hand control button 544 cycles the second finger element 108 throughthe entire range of motion. The second finger element 108 is alsoclutched in both directions.

[0065] The serving positions of the arms 104 can be automaticallyaccessed by depressing serving button 530. Each time the serving button530 is depressed, the following positions of the arms 104 are achieved:First, the right arm 104 rotates to a 90° position. Second, the rightarm 104 rotates to a 180° position. Third, the left arm 104 rotates to a90° position. Fourth, the right arm 104 returns to the 90° position.Fifth, the right arm 104 returns to the 180° position. Sixth, the leftarm 104 rotates to the 180° position.

[0066] The rotatable platform 124 can also be controlled remotely bydepressing the left rotate button 542 and the right rotate button 546.The rotatable platform 124 can rotate approximately 135° in eitherdirection. By intermittingly depressing either the left control button542 or the right control button 546 the rotatable platform 124 will turnincrementally. If the rotatable platform 124 is not at the centerposition when the drive control is activated, the rotatable platform 124will automatically return to the center/forward position. This functionallows the user to view where the robot 100 is traveling.

[0067] The remote control 500 can also be used to select which mode therobot 100 will operate. When the mode button 516 is selected, the robot100 enters into the automatic mode. When the mode button 518 isselected, the robot 100 enters the monitor mode. When the mode button520 is selected, the robot enters the security mode. When the modebutton 522 is selected, the robot 100 enters the greet mode. When themode button 524 is selected, the robot 100 enters the remote controlmode. If the robot 100 is operating in an autonomous mode, the user maydepress the mode button 524 to end the autonomous mode and then therobot 100 can be controlled again by the remote control device 500.

[0068] The remote control device 500 can also activate the light 118. Ifit is dark withing the room and a user wishes to provide additionallight in front of the robot 100, the user may do so by depressing thelight button 532. By depressing the light button 532 once, the light 118is turned on. Depressing the light button 532 a second time activatesthe bright setting of the light 118. Depressing the light button 532 athird time turns the light 118 off.

[0069] Referring now to FIG. 17, a block diagram illustrates thecontrols of the remote control 500. The microcontroller units (MCU) 450independently receive signals from the keyboard and joystick. Thesesignals are then sent to the 900 MHz transceiver 554 for transmitting tothe robot 100. FIG. 17 also shows that signals received by themicrophone 506 are sent to the voice shifting device and then to the 900MHz transceiver 554 and finally transmitted to the robot 100.

[0070] There are several controls which are located on the robot 100 andnot on the remote control 500. For example, a user may press and holdthe message button 142 located on the back of the robot 100 to record amessage for up to fifteen seconds. Once the message is recorded, themessage button 142 may be pressed again to hear the recorded messageplayed back. In addition, the find remote button 143 sends an announcesignal to the remote control 500 whereby the remote control 500 willmake a noise allowing the user find the remote control device 500. Thepower button 144 is also located on the back of the robot 100. The powerbutton 144 can be pressed to turn the robot 100 on and off. Further, ifthe user presses and holds the power button 144 for approximately twoseconds the robot will enter the demonstration mode.

[0071] The foregoing description of preferred embodiments of the presentinvention has been provided for the purposes of illustration anddescription. It is not intended to be exhaustive or to limit theinvention to the precise forms disclosed. Obviously, many modificationsand variations will be apparent to the practitioner skilled in the art.The embodiments were chosen and described in order to best explain theprinciples of the invention and its practical application, therebyenabling others skilled in the art to understand the invention forvarious embodiments and with various modifications that are suited tothe particular use contemplated. It is intended that the scope of theinvention be defined by the following claims and their equivalence.

1. A multi-function remote controlled robot, the robot comprising: abody; at least one arm connected with the body, whereby said arm may bepositioned in a plurality of positions, and further contains a hand-gripdevice; at least one leg connected with the body, whereby said legcontains a drive mechanism to move the robot; a plurality of sensors toidentify obstacles in front of the robot, thus allowing the robot tointeract with objects in the vicinity of the robot and further toprevent the robot from traveling off an edge; at least one audio systemto detect and transmit sound, whereby the audio system contains a memoryelement to store vocabulary; a light assembly for illuminating an areain front of the robot; at least one video device to allow a user toremotely view an area in front of the robot; whereby the robot mayoperate in a plurality of modes; and whereby a user may remotelymanipulate the robot.
 2. The multi-function remote controlled robotaccording to claim 1, whereby the plurality of sensors includes at leastone of the following: an ambient light sensor, an active infraredsensor, a passive infrared sensor, a motor sensor, a tilt sensor and anedge sensor.
 3. The multi-function remote controlled robot according toclaim 2, whereby the ambient light sensor determines if the ambient areais below a minimum threshold so that an infrared mode of the videodevice may be activated.
 4. The multi-function remote controlled robotaccording to claim 2, whereby the robot contains a plurality of infraredsensors to identify obstacles or edges in front of the robot.
 5. Themulti-function remote controlled robot according to claim 4, whereby therobot contains seven infrared emitters, with three stationary emitterslocated on each leg of the robot and one sensor which rotates located onthe front of the body of the robot.
 6. The multi-function remotecontrolled robot according to claim 5, whereby a signal receiving deviceis located on the front of the robot's body to receive emitted infraredsignals from the stationary infrared emitters located on each leg of therobot.
 7. The multi-function remote controlled robot according to claim5, whereby the sensor that rotates is a passive infrared sensor.
 8. Themulti-function remote controlled robot according to claim 2, whereby themotor sensor senses current surges to motors located within the body ofthe robot.
 9. The multi-function remote controlled robot according toclaim 2, whereby the tilt sensor indicates that the robot is notstanding upright.
 10. The multi-function remote controlled robotaccording to claim 2, whereby the edge sensor senses that the robot isproximate to the edge of a surface, thus preventing the robot fromtraveling off an edge.
 11. The multi-function remote controlled robotaccording to claim 1, whereby the drive mechanism located in each legcan move the robot forward, reverse, left and right in both forward andreverse directions, and can further spin the robot in place.
 12. Themulti-function remote controlled robot according to claim 1, whereby thearms can rotate incrementally to a pre-set serving position or mayrotate continuously.
 13. The multi-function remote controlled robotaccording to claim 1, whereby the hand grip device of the arm allows therobot to grip and hold objects.
 14. The multi-function remote controlledrobot according to claim 1, whereby the robot's body further contains amouth and a rotatable platform, both covered by a protective surface.15. The multi-function remote controlled robot according to claim 14,whereby the rotatable platform contains the video device and at leasttwo eyes.
 16. The multi-function remote controlled robot according toclaim 1, whereby the user may remotely manipulate the robot through aremote control device or the Internet.
 17. The multi-function remotecontrolled robot according to claim 14, whereby the mouth is comprisedof a plurality of lights, such that the lights maybe activated to conveymultiple expressions.
 18. A multi-function remote controlled robotaccording to claim 1, whereby the mode settings include a remote controlmode, a monitor mode, an automatic mode, a security mode, a greet modeand a demonstration mode.
 19. A multi-function remote controlled robotaccording to claim 18, whereby when the automatic mode is selected, therobot will begin moving and use the active infrared emitters to avoidobstacles, while occasionally turning the rotatable platform toward adetected object and speak.
 20. A multi-function remote controlled robotaccording to claim 18, whereby when the security mode is selected, therobot stands still and when the microphones on the robot detect noise,the rotatable platform turns toward the noise source and the passiveinfrared sensor begins to scan.
 21. A multi-function remote controlledrobot according to claim 20, whereby if a heat source is detected, therobot turns on the headlight and makes an announcement from the securityvocabulary, and further sends an alarm signal to the remote controldevice.
 22. A multi-function remote controlled robot according to claim18, whereby when the greet mode is selected, the robot scans with thepassive infrared sensor to search for a detectable object.
 23. Amulti-function remote controlled robot according to claim 22, whereby ifa heat source is detected, the robot turns the rotatable platform towardthe source and makes an announcement form the greeting vocabulary.
 24. Amulti-function remote controlled robot according to claim 18, wherebywhen the demonstration mode is selected, the robot enters ademonstration routine of sounds and motions.
 25. A multi-function remotecontrolled robot according to claim 18, whereby when the remote controlmode is selected, the robot is manipulated by the remote control device.26. A multi-function remote controlled robot according to claim 18,whereby when the monitor mode is selected, the drive element of therobot is disabled so that the robot cannot move, and further allows therobot to transmit audio and video signals to the remote control device.27. A multi-function remote controlled robot according to claim 13,whereby the hand-grip device will not apply more than five poundspressure to an object held by the hand-grip device to avoid damaging theobject.
 28. A multi-function remote controlled robot according to claim1, whereby the body can tilt approximately 180° forward and 30°rearward.
 29. A multi-function remote controlled robot according toclaim 14, whereby the rotatable platform can rotate approximately 135°to the left and right from a center position.
 30. A remote controldevice to control a robot, the remote control device comprising: alocomotion control device; a video display for remotely viewing objectsin front of the robot; a plurality of controls to manipulate the robot;at least one microphone so that a user may speak at the remote controldevice, wherein the user's voice is transmitted from the robot; at leastone speaker so that a user can monitor sounds surrounding the robot; andwhereby a transmitter/receiver located on the remote control devicesends and receives signals required to operate the robot.
 31. A remotecontrol device according to claim 30, whereby the locomotion controldevice is a joystick, with a height suitable for use with a single thumbof a user.
 32. A remote control device according to claim 31, wherebythe joystick has eight compass points to translate to motion of therobot, the eight compass points including left forward, straightforward, right forward, spin left, spin right, left backward, straightbackward and right backward.
 33. A remote control device according toclaim 32, whereby when any forward position of the joystick is engagedform ore than three seconds, the robot will increase speed in thedirection engaged.
 34. A remote control device according to claim 30,whereby the plurality of controls includes: moving the robot; titlingthe body; rotating and locking the arms; activating the hand grip;adjusting the intensity of the lights; turning the rotatable platform;voice control; mode settings; and volume control.
 35. A remote controldevice according to claim 34, whereby the body can tilt approximately180° forward and 30° rearward.
 36. A remote control device according toclaim 34, whereby the rotatable platform may rotate approximately 135°left and right of center.
 37. A remote control device according to claim34, whereby the volume control allows a user to adjust the volume of thespeakers located on the robot.
 38. A remote control device according toclaim 30, where by the remote control device may separately manipulatetwo robots simultaneously.
 39. A remote control device according toclaim 34, whereby the mode settings include a remote control mode, amonitor mode, an automatic mode, a security mode, a greet mode and ademonstration mode.
 40. A remote control device according to claim 39,whereby when the automatic mode is selected, the robot will begin movingand use its sensors to avoid obstacles, while occasionally turning therotatable platform toward a detected object and speak.
 41. A remotecontrol device according to claim 39, whereby when the security mode isselected, the robot stands still and when the microphones on the robotdetect noise, the rotatable platform turns toward the noise source andthe passive infrared sensor begins to scan.
 42. A remote control deviceaccording to claim 41, whereby if a heat source is detected, the robotturns on the headlight and makes an announcement from the securityvocabulary, and further sends an alarm signal to the remote controldevice.
 43. A remote control device according to claim 39, whereby whenthe greet mode is selected, the robot scans with the passive infrared tosearch for a detectable object.
 44. A remote control device according toclaim 43, whereby if a heat source is detected, the robot turns therotatable platform toward the source and makes an announcement from thegreeting vocabulary.
 45. A remote control device according to claim 39,whereby when the demonstration mode is selected, the robot enters ademonstration routine of sounds and motions.
 46. A remote control deviceaccording to claim 39, whereby when the remote control mode is selected,the robot is manipulated by the remote control device.
 47. A remotecontrol device according to claim 39, whereby when the monitor mode isselected, the drive element of the robot is disabled so that the robotcannot move, and further allows the robot to transmit audio and videosignals to the remote control device.
 48. A remote control deviceaccording to claim 34, whereby the remote control device allows a userto remotely rotate the arms of the robot incrementally to a pre-setserving position, and further allows a user to rotate the arms of therobot continuously.
 49. A remote control device according to claim 34,whereby the remote control device allows a user to remotely open andclose the hand grip of the robot to grip and hold objects.
 50. A remotecontrol device according to claim 34, whereby the remote control deviceallows a user to remotely adjust the intensity of the lights of therobot to illuminate the area in front of the robot, thus allowing a userto view objects via the video display that would not be visible withoutadditional lighting.
 51. A remote control device according to claim 50,whereby the lights have a momentary, high, low and off setting.
 52. Aremote control device according to claim 34, whereby the voice controlscrambles the user's voice before transmitting the user's voice to therobot.
 53. A remote control device according to claim 30, whereby thetransmitter/receiver operates at two separate frequencies.
 54. A remotecontrol device according to claim 53, whereby the audio and videosignals from the robot to the remote control device travel at 2.4 GHz,and the control signals and the audio from the remote control device tothe robot travel at 900 MHZ.
 55. A device for detecting objects, thedevice comprising: at least one motion sensor for detecting a signal; ahousing containing the motion sensor; and whereby the housing moves,allowing the motion sensor to detect a signal through a range, so that astationary object within the range may be detected.
 56. The deviceaccording to claim 55, whereby the motion sensor is a passive infrareddevice.
 57. The device according to claim 55, whereby the housing movesthrough a 180° angle.
 58. A scanning passive infrared device fordetecting objects, the device comprising: at least one passive infraredsensor for detecting a signal; a housing containing the passive infraredsensor; and whereby the housing moves, allowing the passive infraredsensor to detect a signal through a range so that a stationary objectwithin the range may be detected.
 59. The device according to claim 58,whereby the housing moves through a 180° angle.
 60. An edge detectionsystem to prevent a robot from traveling off an edge, the edge detectionsystem comprising: at least one infrared emitter; a signal receivingdevice capable of detecting a signal from the infrared emitter; at leastone edge detection element; whereby the signal receiving device willdetect an edge prior to the edge detection element; and whereby therobot slows down after an edge has been detected by the signal receivingdevice, allowing the edge detection element to confirm that there is anedge.
 61. An edge detection system according to claim 60, whereby therobot contains seven infrared emitters emitting signals capable of beingdetected by the signal receiving device.
 62. An edge detection systemaccording to claim 61, whereby the robot contains three stationaryinfrared emitters in each leg, and further contains one scanninginfrared sensor located on the front of the robot.
 63. An edge detectionsystem according to claim 62, whereby the three stationary infraredemitters emit signals at three different angles so that the robot candetermine whether an obstacle is near or far, and further to detect anedge.
 64. An edge detection system according to claim 63, whereby thestationary infrared emitters emit a signal one at a time such that therobot can determine which stationary emitter detected an obstacle or anedge.
 65. An edge detection system according to claim 60, whereby theedge detection element determines there is an edge if the front endwheel or rear end wheel of the robot travels a predetermined distancedownward.
 66. An edge detection system according to claim 60, wherebythe edge detection system allows the robot to travel throughout astructure, autonomously or by remote control, and not travel off anedge, such that a user may manipulate the robot remotely via theInternet.
 67. A hand grip device for a robot, the hand grip devicecomprising: a first and second finger element, whereby the first fingerelement is stationary and the second finger element cycles through anopen and close position to grip an object; and whereby a motor rotatesin a single direction to open and close the second finger element, thusachieving the rate at which the second finger element opens and closes.68. A hand grip device for a robot according to claim 67, whereby aspring closure mechanism biases the second finger element in a closedposition
 69. A hand grip device for a robot according to claim 67,whereby the first finger element has at least one cavity for inserting aserving device.
 70. The hand grip device according to claim 68, wherebythe spring closure mechanism will not apply more than five pounds ofpressure to an object when the second finger element is in the closedposition, thus preventing damage to any object held between the firstand second finger elements.
 71. A device allowing a robot to expressmoods through lighting, the device comprising: a plurality of lights,whereby each light emits at least one color; a reflector element toreflect light emitted from at least one of the lights such that thelight from one of the lights is focused primarily in one direction; atleast one said lights directed away from said reflective element in saidone direction; whereby the lights may be arranged in at least onecombination; and whereby the combination of lights maybe activated todisplay at least one color.
 72. A device according to claim 71, wherebythe plurality o flights consists of one blue light, two amber lights andtwo red lights.
 73. A device according to claim 72, whereby the coloremitted from the device can be any combination of the blue, amber andred lights.
 74. A device according to claim 71, whereby the combinationof lights activated depends on the whether robot is in the nightlightmode, the monitor mode, the security mode, the remote mode, the roammode or the greet mode.
 75. A device according to claim 74, whereby whenthe robot is in the nightlight mode, two amber lights and two red lightsare activated and emitted from the device.
 76. A device according toclaim 74, whereby when the robot is in the monitor mode, one amber lightis activated and emitted from the device.
 77. A device according toclaim 74, whereby when the robot is in the security mode, the lightsactivated depend on whether the robot is talking or not talking.
 78. Adevice according to claim 77, whereby when the robot is not talking, oneblue light is activated and emitted from the device, and further whenthe robot is talking, one blue light and two red lights are activatedand emitted from the device.
 79. A device according to claim 74, wherebywhen the robot is in the remote mode, roam mode or greet mode, thelights activated depend on whether the robot is not talking, talking,tired or tired and talking.
 80. A device according to claim 79, wherebywhen the robot is not talking, one blue light and one amber light areactivated and emitted from the device, and further when the robot istalking, one blue light and two amber lights are activated and emittedfrom the device, and further when the robot is tired, one blue light andone red light is activated and emitted from the device, and further whenthe robot is tired and talking, one blue light and two red lights areactivated and emitted from the device.
 81. A device according to claim72, whereby the blue light is aligned in a first direction and the twoamber lights and two red lights are aligned in a second direction.
 82. Adevice according to claim 71, whereby the reflector element ispositioned such that the two amber and two red lights are alignedtowards the reflector element so that when the amber lights or redlights are activated, the reflector element will reflect the lighttowards the first detection.
 83. A transport device for a robot, thedevice comprising: a center wheel with traction; at least one end wheel,whereby the end wheel provides lateral support for the robot, such thatthe robot may travel over obstacles and keep the robot substantiallylevel to the ground; and whereby the center of the end wheel is biasedbelow the center of the center wheel, such that the end wheel and thecenter wheel are always in contact with the ground.
 84. A deviceaccording to claim 83, whereby the center wheel provides the rotationnecessary to move the robot, and the end wheel rotates freely by contactwith the ground.
 85. A device according to claim 83, whereby thetransport device further contains a sensor located proximate to the endwheel so that the robot can detect an edge.
 86. A device according toclaim 83, wherein the end wheel is pivotally mounted relative to thecenter wheel.
 87. A method allowing a robot to autonomously interactwith objects, whereby the method comprises the steps of: a robot movingautonomously; detecting obstacles, thus preventing the robot fromdamaging itself by running into the obstacles; scanning to detectobjects; turning a rotatable platform towards a detectable object; andspeaking from a vocabulary.
 88. The method according to claim 87,whereby detecting obstacles is achieved by infrared emitters emittingsignals capable of being detected by a signal receiving device.
 89. Themethod according to claim 87, whereby scanning for objects isaccomplished by a passive infrared emitter emitting signals capable ofbeing detected by the signal receiving device.
 90. The method accordingto claim 89, whereby when the robot detects an object the robot willoccasionally turn a rotatable platform toward the object and speak froma roam vocabulary so that it appears that the robot is talking directlyat the object.
 91. A device allowing a robot to express moods throughlights, the device comprising: a reflector element; a plurality oflights, at least one of which has a first color and is directed towardthe reflector element and at least one of which has a second color andis directed away from the reflector element; and wherein said reflectorelement can direct the first color light in the direction of the secondcolor light.
 92. The device according to claim 91, further including acontroller for controlling the sequencing of the lighting of the firstand the second lights.
 93. The device according to claim 91, furtherincluding at least three lights directed toward the reflector.
 94. Thedevice of claim 93, wherein at least two of the three lights are all ofthe first color.
 95. An edge detection system to prevent a robot fromtraveling off an edge, the edge detection system comprising: at leastone signal emitter; a signal receiving device capable of detecting asignal from the signal emitter; at least one edge detection element;whereby the signal receiving device will detect an edge prior to theedge detection element; and whereby the robot slows down after an edgehas been detected by the signal receiving device, allowing the edgedetection element to confirm that there is an edge.
 96. An edgedetection system according to claim 95, whereby the robot contains sevensignal emitters emitting signals capable of being detected by the signalreceiving device.
 97. An edge detection system according to claim 96,whereby the robot contains three stationary signal emitters in each leg,and further contains one scanning signal emitter located on the front ofthe robot.
 98. An edge detection system according to claim 97, wherebythe three stationary signal emitters emit signals at three differentangles so that the robot can determine whether an obstacle is near orfar, and further to detect an edge.
 99. An edge detection systemaccording to claim 98, whereby the stationary signal emitters emit asignal one at a time such that the robot can determine which stationaryemitter detected an obstacle or an edge.
 100. An edge detection systemaccording to claim 95, whereby the edge detection element determinesthere is an edge if the front end wheel or rear end wheel of the robottravels a predetermined distance downward.
 101. An edge detection systemaccording to claim 95, whereby the edge detection system allows therobot to travel throughout a structure, autonomously or by remotecontrol, and not travel off an edge, such that a user may manipulate therobot remotely via the Internet.
 102. An edge detection system accordingto claim 95, whereby the signal emitter emits a sound signal.
 103. Anedge detection system according to claim 95, whereby the signal emitteremits a Doppler signal.
 104. An edge detection system according to claim95, whereby the signal emitter emits a laser signal.